Woolford, who appeared on the CBS series in the recurring role of Det. James Chang, died Monday after suffering a “severe” stroke on Friday, his publicist Tracy Larrua confirmed to PEOPLE.

In an exclusive statement to PEOPLE, Kim, who stars as Chin Ho Kelly on the crime drama series, remembers the Honolulu native’s positive “energy” that he exuded on set.

“Sometimes guest actors can come in with a nervous or frenetic quality to them, but Keo always had an ease about him when he was on set. It was as if you could tell he had so much more going on in his life beyond 5-0. And of course, he did. It was that energy that allowed his natural kindness and generosity of spirit to shine through, even during the toughest of days. I will always remember and appreciate that about him.”

As talented as you were, I will remember you most for your kindness. Thank you for sharing your light with us, @KeoWoolford. Rest In Peace.

Kim acted alongside Woolford for four years and was one of numerous cast members to take to social media to pay tribute to the late actor after learning of his death. “As talented as you were, I will remember you most for your kindness. Thank you for sharing your light with us, @KeoWoolford. Rest In Peace,” Kim tweeted Tuesday.

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